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The current investigation addresses whether the socially guided machine learning paradigm can be extended to a new domain, embodied grammar learning. Experimental results show that naive users indeed reduce the complexity of linguistic utterances in tutoring sessions for a simulated robot, even though their own knowledge of the subject area is only tacit. These findings have implications for the usability...
Mutual gaze is an important aspect of face-to-face communication that arises from the interaction of the gaze behavior of two individuals. In this dual eye-tracking study, gaze data was collected from human conversational pairs with the goal of gaining insight into what characteristics of the conversation partners influence this behavior. We investigate the link between personality, familiarity and...
A recent theoretical framework on anthropomorphism emphasizes the role of elicited agent knowledge in anthropomorphic inferences about nonhuman entities. According to the Three-Factor Model of psychological Anthropomorphism, people use anthropocentric knowledge structures when judging unfamiliar objects (e.g., robots). In the present research, our goal was to manipulate the accessibility of such elicited...
This paper presents a field study of a physical ball game for elderly based on an autonomous, mobile robot. The game algorithm is based on Case Based Reasoning and adjusts the game challenge to the player's mobility skills by registering the spatio-temporal behaviour of the player using an on board laser scanner.We have investigated the adaptiveness of the game algorithm in an open-ended environment...
In this work we present a method to produce a model of human motion based on an expansion in functions series. The model is thought to reproduce the learned movements generalizing them to different conditions. We will show, with an example, how the proposed method is capable to produce the model from a reduced set of examples preserving the relevant features of the demonstrations while guaranteeing...
This paper presents an interactive dynamic controller used to generate locomotion patterns for humanoid robots. The purpose of this work is to provide animators and artists easy and intuitive tools to design expressive motions for humanoid robots. A review of similar work in the computer animation community has guided our choices regarding the implementation and level of interaction between the user...
Aiming at the application in physical human-robot interaction, this paper presents a novel adaptive admittance control scheme for robotic manipulators. Special emphasis is drawn on the avoidance of oscillatory behavior in the presence of closed kinematic chains while keeping the rendered impedance low. The approach uses an online fast Fourier transform of the measured manipulator endeffector forces...
Robots that interacts socially in human being environment should be able to understand and act over it using clues from humans; it includes all types of expression: facial, non-facial, verbal and nonverbal affective expressions. These behaviors need a model capable to compute external and internal information to construct autonomous robots. In this paper, we are proposing a basis for modeling some...
A power assist robot reduces perceived weight of objects lifted with it. However, root cause of reduced heaviness and factors affecting the heaviness are still unclear though the knowledge on the root cause/factors could be used to modulate human's feelings and the interactions between human and robot. This paper investigated the causes/factors behind the reduced heaviness. We adopted two strategies...
We developed and demonstrated the effectiveness of Hyakunin-Eyesshu, the world's first tabletop Hyakunin-Isshu game against a computer opponent that utilizes action prediction based on gaze and hand-motion detection. In this study, we also developed the gaze-and-touch algorithm, which can realize just-found and even-match timings for use in the computer opponent's play. The just-found timing is the...
In face-to-face communication, we can confidently communicate through our bodies. Recently, agents have widely surfaced as existences that interact with humans, and several studies have investigated the formation of social relations with such agents. This study focuses on the possibility that the impression of embodied agents and the way of interpreting information offered by them changes owing to...
The human auditory system excels at pinpointing and distinguishing multiple sound sources in noisy and reverberant environments. Mobile robotic platforms implement such capabilities with varying success, classically solving localization and separation independently. This paper presents an algorithm utilizing Head-Related Transfer Function (HRTF) based localization to aid the task of separation. HRTFs...
We previously investigated body ownership transfer to a teleoperated android body caused by motion synchronization between the robot and its operator. Although visual feedback is the only information provided from the robot, due to body ownership transfer, some operators feel as if they were touched when the robot's body was touched. This illusion can help operators transfer their presence to the...
A method for robot to human object hand-over is presented that takes into account user comfort. Comfort is addressed by serving the object to facilitate user's convenience. The object is delivered so that the most appropriate part is oriented towards the person interacting with the robot. This approach, aimed at contributing to the development of socially aware robots, has not been considered in previous...
This paper focus in the importance of context awareness and intention understanding capabilities in modern robots when faced with different situations. The inclusion of such requirements in robot design aim for more intelligent robots capable to adapt its behaviours to the faced situations. Gaze estimation and gesture interpretation are modalities, closely related with context-depent human intention...
Human activity recognition is a key component for socially enabled robots to effectively and naturally interact with humans. In this paper we exploit the fact that many human activities produce characteristic sounds from which a robot can infer the corresponding actions. We propose a novel recognition approach called Non-Markovian Ensemble Voting (NEV) able to classify multiple human activities in...
A social robot needs to attract the attention of a target human and shift it from his/her current focus to what is sought by the robot. The robot should recognize the current target's attention level to smoothly perform this attention control. In this paper, we propose a vision-based system to detect the level of attention or willingness of the target person towards the robot and to control his/her...
A robot's physical appearance is the most visible and most easily accessible information about its capabilities. The objective of the experiment presented in this paper is to bring insights into the evaluation of a robot's aesthetic design with regard to its social capabilities. Specifically, participants evaluated four human-like and four highly anthropomorphic robots regarding their aesthetic design,...
Human-Robot Interaction is one of the key challenges in collaborative autonomous robotics. However, no standardised framework allowing either efficient portability to an actual industrial use nor comparison benchmarking exists. This work proposes, implements and evaluates such a set of common ground rules. We present the design constraints between different groups of requirements and a technical solution...
Many hand motion recognition methods using Electromyogram (EMG) signals have been developed. Because most studies used only surface EMG signals from a forearm, available motion-related information was limited. In this paper, we report a SVM (Support Vector Machine) based hand motion recognition method using hybrid sensors. The hybrid sensor consists of an EMG sensor and an optical distance sensor,...
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